JP2002127074A - Connecting unit for turning angle sensor and actuator using this connecting unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a miniaturizable connecting unit simple in the electric connection of a joint of an arm and a leg of a robot and an actuator using this connecting unit. SOLUTION: This connecting unit of a turning angle sensor has a first annular case for holding a first terminal group and a second annular case holding a second terminal group, mounted with a C-shaped resistor and a first annular conductor connected to the second terminal group, and relatively rotatably installed in the first annular case. At least one end of the C-shaped resistor is connected to the first annular conductor, and since one terminal of the first terminal group slidingly contacts with the C-shaped resistor and a different terminal of the first terminal group is slidingly contacted with the first annular conductor, the turning angle sensor and a slip ring are integrally formed so that a structure of the connecting unit becomes simple and compact.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation angle sensor connection unit and an actuator using the same, and more particularly, to a rotation angle sensor connection unit for an arm or a leg joint of a pet robot and an actuator (robot) using the same. About.

[0002]

2. Description of the Related Art In a conventional robot, a slip ring is generally used for electrical connection of a joint when the tip of the joint rotates infinitely, and a cable such as a flat cable is used for a finite rotation. .

[0003] Each joint requires a motor to move it, and a rotation angle sensor for sensing the rotation of each joint rotated by the motor is also required. Also, the input and output of the motor and the output of the sensor are exchanged between the robot main body and each joint or arm or leg by using the above-described slip ring or cable.

[0004]

However, in the above-mentioned prior art, when the number of joints increases, the number of motors for rotationally driving the joints and the number of rotation angle sensors for the joints also increase.
If a slip ring is used, the size of the slip ring becomes large, and the size of the actuator (robot) accordingly increases. If a cable is used, the number of wires of the cable increases, making wiring difficult. There was a problem. In particular, the pet robot is strongly required to be miniaturized, and a large number of sensors, motors, and other driving bodies are attached to its arms and legs, which has been a particular problem.

SUMMARY OF THE INVENTION An object of the present invention is to provide a connection unit for a rotation angle sensor in which the electrical connection of the joints of the arms and legs of the robot is simple and can be miniaturized, and an actuator using the same.

[0006]

In order to solve the above-mentioned problems, a connection unit for a rotation angle sensor according to the present invention has a first annular case for holding a first terminal group and a second annular case for holding a second terminal group. A second annular conductor mounted with a C-shaped resistor and a first annular conductor connected to the second terminal group, and rotatably attached to the first annular case. At least one end of the C-shaped resistor is connected to the first annular conductor, and one terminal of the first terminal group slides on the C-shaped resistor, and According to this configuration, wherein different terminals of the first terminal group are in sliding contact with the first annular conductor, the rotation angle sensor and the slip ring are integrally formed, so that the structure of the connection unit is simple, Become compact.

The first terminal group and the second terminal group are drawn out of the first annular case and the second annular case in directions opposite to each other in the axial direction of rotation.
According to this description, since each terminal group is drawn out toward the wiring to which it is connected, it is possible to easily connect the cables.

A third annular case holding a third terminal group and fixed in position concentrically with the first annular case; a fourth terminal group holding and a fourth terminal group; A second annular conductor connected to the group, and a fourth annular case whose position is fixed concentrically with the second annular case, wherein at least one terminal of the third terminal group is provided. A sliding contact is made with the second annular conductor. With this configuration, each unit connection unit can be integrated, so that handling is easy and assembly is easy.

The first annular case and the third annular case are located at substantially the same position in the axial direction of rotation.
The second annular case and the fourth case are located at substantially the same position in the rotation axis direction. With this configuration, since the positions of the terminals are substantially on the same plane, the terminals can be collectively connected to the same substrate, thereby facilitating the connection operation.

Further, the connection unit for a rotation angle sensor according to claim 1 is interposed between a first support and a second support, and the first annular case is attached to the first support. The second annular case is fixed to the second support, a motor is fixed to the first support, and a rotation shaft of the motor is fixed to the second support, and An actuator fixed concentrically to the second annular case. With this configuration, it is possible to provide an actuator having a built-in rotation angle sensor with a simple structure.

Further, the connection unit for a rotation angle sensor according to claim 3 is interposed between a first support and a second support, and the third annular case is attached to the first support. The fourth annular case is fixed to the second support, a motor is fixed to the first support, and a rotation shaft of the motor is fixed to the second support, and An actuator fixed concentrically to a fourth annular case. According to this configuration, the control unit is provided in the main body (body), and the joints closer to the main body require a larger number of wirings. Therefore, by using a plurality of unit connection units having different diameters, the number of wirings is secured near the main body, and the distance is increased. In place, it can be made compact, and compared to preparing completely separate connection units for different connection units, standardization can be achieved by sharing each unit connection unit, so that it can be manufactured at low cost.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a connection unit according to the present invention and an actuator using the same will be described with reference to FIGS. FIG. 1 is an assembly view showing the present embodiment, and FIG.
FIG. 3 is an exploded longitudinal sectional view of each unit connection unit of the present embodiment, FIG. 3 is a transverse sectional view taken along line 3-3 in FIG. 2, FIG. 4 is a transverse sectional view taken along line 3-3 in FIG. Is a cross-sectional view taken along the line 5-5 in FIG. 2, and FIG. 6 is a schematic view showing an electrical connection state of wiring and the like according to the present embodiment.

An actuator (robot) 1 using the rotation angle connection unit of the present embodiment comprises a main body 2, a first arm 3,
It comprises a second arm 4, a palm 5, a first connection unit 6, a second connection unit 7, and a third connection unit 8. The main body 2 corresponds to the body of the pet robot, from which the first arm 3, the second arm 4, and the palm 5 extend.

The main body 1 is provided with a first motor 2b, a wiring 2d to a circuit 2c, and a circuit 2c on a first support 2a, and forms a body of the actuator 1.

The first arm 3 includes a second motor 3b on the second support 3a, a fixing portion 3c for fixing the tip of the rotating shaft 2b 'of the first motor 2b to the support 3a, And a wiring 3e from the first connector 3d.

The second arm 4 includes a third motor 4b on the third support 4a, a fixing portion 4c for fixing the tip of the rotating shaft 3b 'of the second motor 3b to the support 4a, And a wiring 4e from the second connector 4d.

The palm portion 5 includes a fixing portion 5b for fixing the tip of the rotation shaft 4b 'of the third motor 4b to the support 5a, a third connector 5c, and a third connector 5c. A wiring 5d from the connector 5c is provided.

The first connection unit 6 includes the main body 2 and the first arm 3
And the joint part that connects electrically and mechanically rotatably,
The first unit connection unit 6a, the second unit connection unit 6b, and the third unit connection unit 6c are arranged concentrically, fixed to each other by an appropriate method such as fitting, and combined into one. . The first unit connection unit 6a is fitted in the center recess of the second unit connection unit 6b, and the second unit connection unit 6b is fitted in the center recess of the third unit connection unit 6c to be integrated. With this configuration, each unit connection unit is integrated, so that handling is easy, and each terminal group of each unit connection unit is aligned at substantially the same position in the rotation axis direction, so that each terminal of each terminal group is Since the terminals are substantially on the same plane, each terminal can be collectively connected to the same substrate. Also, from the fixed side of the first connection unit 6, the terminal group 6f is fixed to the extension board 6d, and the board 6d is
Is fixed to the support 2a. Further, the terminal group 6g is pulled out from the movable side of the first connection unit 6 in the direction opposite to the rotation direction of the terminal group 6f, and is fixed to the substrate 6e. The substrate 6e is fixed to the second support 3a. ing. Since each terminal is drawn out toward the board to which it is connected, connection with the board is simplified.

The first unit connection unit 6a comprises a first annular case 6a1 and a second annular case 6a2 rotatably mounted on the first annular case.
Annular conductors 6a3 and 6a5 are formed on the second annular case 6a2 by printing using ink obtained by mixing silver powder with a binder resin, and a C-shaped resistor 6a is provided between the conductors 6a3 and 6a5.
Reference numeral 4 is formed by printing with ink obtained by mixing carbon or the like with a binder resin. Both ends of the resistor 6a4 are overlapped in the printing process on the protrusions provided in the printing process on the two annular conductors 6a3 and 6a5, respectively, and electrically connected to the annular conductor 6a
It is electrically connected to 3, 6a5. Furthermore, two annular conductors 6a
3, 6a5 and two terminals of a second terminal group 6g1 fixed to the second annular case and led out to the outside are respectively electrically connected. In the first annular case 6a1,
The first terminal group 6f1 is held so as to be able to be freely inserted and removed from the first annular case 6a1 and to be elastically pressed against the second annular case 6a2. When the second annular case 6a2 rotates with respect to the first annular case 6a1, the center terminal T of the first terminal group 6f1 slides on the C-shaped resistor 6a4, and Of the terminal group 6f1 of
Two terminals T1 and T2 other than the center terminal T are annular conductors 6.
a3, 6a5 are slid in contact with each other to maintain electrical continuity. One of the terminals T1 and T2 is connected to the ground, and the other is applied with a predetermined voltage. Terminal T is a C-shaped resistor 6a4
In accordance with the generated voltage gradient, a voltage corresponding to the rotational position of the terminal T is generated and detected to have a function of a rotation angle sensor. Here, since the rotation angle sensor and the slip ring are integrally formed in one unit connection unit, the structure is simple and compact.

The second unit connection unit 6b comprises a third annular case 6b1 and a fourth annular case 6b2 rotatably mounted on the third annular case 6b1. The case 6b2 has annular conductors 6b3, 6
b4 and 6b5 are formed by printing with ink obtained by mixing silver powder with a binder resin. Further, three ring-shaped conductor portions 6b3, 6b4, 6b5 and a fourth annular case 6b
The second terminal group 6g2, which is fixed to 2 and led out, is connected to each. In the third annular case 6b1,
The third terminal group 6f2 is held so as to be able to be freely inserted and removed from the third annular case 6b1, and to be elastically pressed against the fourth annular case 6b2. When the fourth annular case 6b2 rotates with respect to the third annular case 6b1, the third terminal group 6f2 includes the annular conductors 6b3, 6b4, 6
The electrical continuity is maintained by sliding on b5.

The third unit connection unit 6c includes a fifth annular case 6c1 and a sixth annular case 6c2 rotatably mounted on the fifth annular case 6c1. The annular case 6c2 includes annular conductors 6c3, 6
c4 and 6c5 are formed by printing with an ink obtained by mixing silver powder with a binder resin. Also, three annular conductors 6c
3, 6c4, 6c5, and a sixth terminal group 6g3 fixed to the sixth case 6c2 and led out to the outside. In the fifth annular case 6c1, a fifth terminal group 6f3 is held so as to be freely inserted into and removed from the fifth annular case 6c1, and to elastically press the sixth annular case 6c2. The sixth annular case 6c2 is the fifth
When rotating with respect to the annular case 6c1, the fifth terminal group 6f3 slides on the annular conductors 6c3, 6c4, 6c5 to maintain electrical continuity.

The second connection unit 7 includes the first arm 3 and the second arm
A part that electrically and mechanically connects the arm 4 to the arm 4,
The first unit connection unit 6a and the second unit connection unit 6b are arranged concentrically, are fixed to each other by an appropriate method such as fitting, and are integrated into one. The first unit connection unit 6a is fitted into the central recess of the second unit connection unit 6b to be integrated. That is, the second connection unit 7 is obtained by removing the third unit connection unit 6c from the first connection unit 6. Further, from the fixed side of the second connection unit 7, the terminal group 7e
c, and the substrate 7c is fixed to the second support 3a. A terminal group 7f is pulled out from the movable side of the second connection unit 7 in a direction opposite to the terminal group 7e in the rotation axis direction, and is fixed to the substrate 7d. The substrate 7d is fixed to the third support 4a.

The third connection unit 8 is a portion for electrically and mechanically rotatably connecting the second arm 4 and the palm part 5, and uses only the first unit connection unit 6a. That is, the third connection unit 8 is obtained by removing the second unit connection unit 6b from the second connection unit 7. Also, from the fixed side of the third connection unit 8,
The terminal group 8d is pulled out and fixed to the substrate 8b.
Is fixed to the third support 4a. Further, from the movable side of the third connection unit 8, the terminal group 8e is pulled out in the direction opposite to the terminal group 8d in the rotation axis direction, and is fixed to the substrate 8c. The substrate 8c is fixed to the third support 4a.

As described above, the first connection unit 6,
Each connection unit of the second connection unit 7 and the third connection unit 8 includes the first unit connection unit 6a, the second unit connection unit 6b, and the third unit connection unit 6c alone or in combination. Or a combination of the three, the components can be shared and standardized, and the connection units can be manufactured much more efficiently than separately. Also, the number of circuits of the connection unit can be adjusted according to the required number of circuits.

The operation of the connection unit according to the present embodiment and the actuator using the connection unit will be described with reference to the above-described components. When a voltage is applied to the motor 2b fixed to the support 2a of the main body 1 from the control unit (not shown) in the circuit 2c through the wiring 2d, the rotating shaft 2b 'of the motor 2b rotates. Since the tip of the rotation shaft 2b 'is fixed on the support 3a of the first arm 3 by the fixing portion 3c, the first arm 3 rotates around the rotation shaft 2b' of the motor 2b. At this time, when the first arm 3 rotates, the circuit 2c receives the output of the rotation angle sensor inside the first unit connection unit 6a, and the control unit controls the rotation angle. The output of the rotation angle sensor and the circuit 2
The control signal of the control unit in c is exchanged through the wiring 2d. Next, when a voltage is applied to the motor 3b fixed to the support 3a of the first arm 3 by an instruction of the control unit in the circuit 2c, the rotating shaft 3b 'rotates, and the tip of the rotating shaft 3b' Since the second arm 4 is fixed on the support 4a of the second arm 4 by the fixing portion 4c, the second arm 4 rotates around the rotation axis 3b '. Similarly, at this time, the rotation of the second arm 4 is controlled by the control unit which controls the rotation angle by receiving the output of the rotation angle sensor inside the first unit connection unit 6a by the circuit 2c. Further, the output of the rotation angle sensor and the control signal of the control unit in the circuit 2c are exchanged through the wirings 3e and 2d. Next, when a voltage is applied to the motor 4b fixed to the support 4a of the second arm 4 according to an instruction from the control unit in the circuit 2c, the rotation shaft 4
b ′ rotates, and the tip of the rotating shaft 4 b ′ is
The palm 5 rotates around the rotation axis 4b 'because the palm 5 is fixed on the a by the fixing portion 5b. Similarly, at this time, the rotation of the palm 5 is controlled by the controller 2c receiving the output of the rotation angle sensor inside the first unit connection unit 6a by the circuit 2c. The output of the rotation angle sensor and the circuit 2c
The control signal of the control unit in the inside is exchanged through the wirings 4e, 3e, 2d.

The movement of the actuator along the signal flow will be described with reference to FIG. FIG. 6 is a diagram schematically illustrating the connection unit of the present embodiment and an actuator using the same. When the same units as those in FIGS. 1 to 4 are denoted by the same reference numerals. Motor input (MTR1-IN, MTR2
-IN, MTR3-IN) indicate power input lines to the motors 4b, 3b, 2b provided on the main body 2, the first arm 3, the second arm 4, and the palm 5. When each power input line passes through the connection units 6 and 7, conduction is maintained by a slip ring built in each connection unit. The motor ground (MTR-GND) is a single line that is connected to the ground terminals of all motors. Similarly, when passing through the connection units 6 and 7,
The continuity is maintained by the slip ring incorporated in the. Since the grounding of the motors 2b, 3b, 4b is completed by one line, the number of wirings is reduced accordingly. The power supply input line (SENS-IN) and the ground input line (SENS-GND) of the sensor are connected to both ends of a C-shaped resistor 6a4 built in the connection units 6, 7, and 8, respectively. Accordingly, a voltage gradient is generated in the C-shaped resistor 6a4, and accordingly, the first case 6a1 and the second case 6a2 of the first unit connection unit 6a are connected to the terminal T sliding on the ring-shaped resistor 6a4. Appears at the terminal T as a voltage value, and the ring-shaped resistor 6a4 and the terminal T constitute a rotation angle sensor. First connection unit 6, second connection unit 7, third connection unit 8
From the sensor output (SEN
S-3OUT, SENS-2OUT, SENS-1OU
T) is output.

According to the present embodiment, as the sensor, only the rotation angle sensor that outputs the relative rotation of the main body, the first arm, the second arm, and the palm is disclosed, but the present invention is not limited to this. Instead, another type of sensor such as a proximity sensor that detects the proximity of another object may be provided at the tip of the actuator (robot arm).

[0028]

As described above, a connection unit for a rotation angle sensor according to the present invention has a first annular case for holding a first terminal group, and a C-shaped resistor for holding a second terminal group. A second annular case mounted on the body and a first annular conductor connected to the second terminal group, the second annular case being rotatably mounted relative to the first annular case; At least one end of the first resistor group is connected to the first annular conductor, one terminal of the first terminal group is in sliding contact with the C-shaped resistor, and another terminal of the first terminal group is the first annular conductor. Since the rotation angle sensor and the slip ring are formed integrally with each other, the structure of the connection unit is simple and compact.

In the actuator of the present invention, a connection unit for a rotation angle sensor in which a plurality of unit connection units are combined is interposed between a first support and a second support. A fourth annular case fixed to the first support, a fourth annular case fixed to the second support, a motor fixed to the first support, and a rotating shaft of the motor fixed to the second support; Further, it is fixed concentrically to the fourth annular case. With this configuration, the control unit is located on the main body (body), and the joints closer to the main body require more wiring,
By using multiple connection units with different diameters, it is possible to secure the number of wires near the main unit and make it compact at a distant place, and to prepare completely separate connection units for different connection units. Thus, standardization can be achieved by sharing each unit connection unit, so that it can be manufactured at low cost.

[Brief description of the drawings]

FIG. 1 is an assembly view showing an actuator (robot) of the present invention.

FIG. 2 is an exploded longitudinal sectional view showing each unit connection unit of the actuator (robot) of the present invention.

FIG. 3 is a cross-sectional view taken along line 3-3 in FIG. 3;

FIG. 4 is a cross-sectional view taken along line 4-4 of FIG. 3;

FIG. 5 is a cross-sectional view taken along line 5-5 in FIG. 3;

FIG. 6 is a schematic diagram showing an electrical connection state of wiring and the like of the actuator (robot) of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Actuator 2 Main body 3 1st arm 4 2nd arm 5 palm part 6 1st connection unit 6a 1st unit connection unit 6b 2nd unit connection unit 6c 3rd unit connection unit 6f1 1st terminal group 6g1 1st 2nd terminal group 6a1 First annular case 6a2 Second annular case 6a3, 6a5 First annular conductor 6a4 C-shaped resistor 7 Second connection unit 8 Third connection unit

Claims (6)

[Claims] A first annular case for holding a first terminal group, a C-shaped resistor for holding a second terminal group, and a first annular case connected to the second terminal group. A second annular case mounted with a conductor and rotatably attached to the first annular case, wherein at least one end of the C-shaped resistor is provided in the first annular case. A first terminal group connected to a conductor; one terminal of the first terminal group slides on the C-shaped resistor; and another terminal of the first terminal group slides on the first annular conductor. Connection unit for rotation angle sensor. 2. The first terminal group and the second terminal group are drawn out of the first annular case and the second annular case in directions opposite to each other in an axial direction of rotation. The connection unit for a rotation angle sensor according to claim 1, wherein And a third terminal group.
A third annular case, the position of which is fixed concentrically with the annular case, and a second annular conductor which holds the fourth terminal group and is connected to the fourth terminal group. 2. A second annular case and a fourth annular case whose position is fixed concentrically, wherein at least one terminal of the third terminal group slides on the second annular conductor. 3.
A connection unit for a rotation angle sensor as described in the above. 4. The first annular case and the third annular case are substantially at the same position in the rotation axis direction, and the second annular case and the fourth case are substantially in the rotation axis direction. The connection unit for a rotation angle sensor according to claim 3, wherein the connection unit is located at the same position. 5. The connection unit for a rotation angle sensor according to claim 1, which is interposed between a first support and a second support, wherein the first annular case is provided on the first support. The second annular case is fixed to the second support, a motor is fixed to the first support, and a rotation shaft of the motor is fixed to the second support, and An actuator fixed concentrically to the second annular case. 6. A connection unit for a rotation angle sensor according to claim 3, which is interposed between a first support and a second support, wherein the third annular case is provided on the first support. The fourth annular case is fixed to the second support, a motor is fixed to the first support, and a rotation shaft of the motor is fixed to the second support, and An actuator fixed concentrically to a fourth annular case.